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Ardupilot SITL with ignition simulator

#ardupilot   #sitl   #plugin  

Table of Content

Objective#

Run Ardupilot (copter) SITL and ignition simulation - fortress - ardupilot_gazebo (plugin) - MAVProxy

ardupilot_gazebo#

  • clone https://github.com/ArduPilot/ardupilot_gazebo.git
  • ignition-garden branch
  • build check instruction https://github.com/ArduPilot/ardupilot_gazebo#installation-
# Clone ardupilot_gazebo repository branch ignition-fortress
# git subfolder

mkdir ~/git
cd git
git clone -b <branchname> <remote-repo-url>
git clone -b ignition-garden https://github.com/ArduPilot/ardupilot_gazebo.git

Run#

terminal1
export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$HOME/git/ardupilot_gazebo/build:${IGN_GAZEBO_SYSTEM_PLUGIN_PATH}
export IGN_GAZEBO_RESOURCE_PATH=$HOME/git/ardupilot_gazebo/models:$HOME/git/ardupilot_gazebo/worlds:${IGN_GAZEBO_RESOURCE_PATH}

# note remove sky tag from sdf
ign gazebo -v 1 -r iris_arducopter_runway.world

SITL#

terminal2 - run SITL
./arducopter -S --model JSON \
--speedup 1 \
--defaults copter.parm,gazebo-iris.parm \
-I0

MAVProxy#

mavproxy
mavproxy.py --master tcp:127.0.0.1:5760

# Arm and takeoff
mode guided
arm throttle
takeoff 5

iris with gimbal and camera#

  • Use iris_with_ardupilot model
  • Add Sensors plugin to world
  • Load model from fule
  • change camera sensor topic to /gimbal/camera
  • Run bridge
  • View camera image in rqt_image_view
Add sensors plugin to world
<plugin
  filename="ignition-gazebo-sensors-system"
  name="ignition::gazebo::systems::Sensors">
  <render_engine>ogre2</render_engine>
</plugin>

fule dashboard

load model from fule
<include>
  <name>gimbal_small_2d</name>
  <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Gimbal Small 2D</uri>
  <pose>0 -0.01 0.070 1.57 0 1.57</pose>
</include>

gz cache location

~/.ignition/fuel
# 
~/.ignition/fuel/fuel.gazebosim.org/openrobotics/models
run bridge
ros2 run ros_gz_bridge parameter_bridge /gimbal/camera@sensor_msgs/msg/Image@ignition.msgs.Image
run RQT
ros2 run rqt_image_view rqt_image_view /gimbal/camera

Reference#